<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<meta http-equiv="X-UA-Compatible" content="IE=9"/>
<meta name="generator" content="Doxygen 1.9.1"/>
<meta name="viewport" content="width=device-width, initial-scale=1"/>
<title>Doxygen: pcl::BriskKeypoint2D&lt; PointInT, PointOutT, IntensityT &gt; 模板类 参考</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
<link href="navtree.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="resize.js"></script>
<script type="text/javascript" src="navtreedata.js"></script>
<script type="text/javascript" src="navtree.js"></script>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="search/searchdata.js"></script>
<script type="text/javascript" src="search/search.js"></script>
<link href="doxygen.css" rel="stylesheet" type="text/css" />
</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<div id="titlearea">
<table cellspacing="0" cellpadding="0">
 <tbody>
 <tr style="height: 56px;">
  <td id="projectalign" style="padding-left: 0.5em;">
   <div id="projectname">Doxygen
   </div>
  </td>
 </tr>
 </tbody>
</table>
</div>
<!-- end header part -->
<!-- 制作者 Doxygen 1.9.1 -->
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
var searchBox = new SearchBox("searchBox", "search",false,'搜索','.html');
/* @license-end */
</script>
<script type="text/javascript" src="menudata.js"></script>
<script type="text/javascript" src="menu.js"></script>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
$(function() {
  initMenu('',true,false,'search.php','搜索');
  $(document).ready(function() { init_search(); });
});
/* @license-end */</script>
<div id="main-nav"></div>
</div><!-- top -->
<div id="side-nav" class="ui-resizable side-nav-resizable">
  <div id="nav-tree">
    <div id="nav-tree-contents">
      <div id="nav-sync" class="sync"></div>
    </div>
  </div>
  <div id="splitbar" style="-moz-user-select:none;" 
       class="ui-resizable-handle">
  </div>
</div>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
$(document).ready(function(){initNavTree('classpcl_1_1_brisk_keypoint2_d.html',''); initResizable(); });
/* @license-end */
</script>
<div id="doc-content">
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
     onmouseover="return searchBox.OnSearchSelectShow()"
     onmouseout="return searchBox.OnSearchSelectHide()"
     onkeydown="return searchBox.OnSearchSelectKey(event)">
</div>

<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<iframe src="javascript:void(0)" frameborder="0" 
        name="MSearchResults" id="MSearchResults">
</iframe>
</div>

<div class="header">
  <div class="summary">
<a href="#pub-types">Public 类型</a> &#124;
<a href="#pub-methods">Public 成员函数</a> &#124;
<a href="#pro-methods">Protected 成员函数</a> &#124;
<a href="#pri-attribs">Private 属性</a> &#124;
<a href="classpcl_1_1_brisk_keypoint2_d-members.html">所有成员列表</a>  </div>
  <div class="headertitle">
<div class="title">pcl::BriskKeypoint2D&lt; PointInT, PointOutT, IntensityT &gt; 模板类 参考</div>  </div>
</div><!--header-->
<div class="contents">

<p>Detects BRISK interest points based on the original code and paper reference by  
 <a href="classpcl_1_1_brisk_keypoint2_d.html#details">更多...</a></p>

<p><code>#include &lt;<a class="el" href="keypoints_2include_2pcl_2keypoints_2brisk__2d_8h_source.html">brisk_2d.h</a>&gt;</code></p>
<div class="dynheader">
类 pcl::BriskKeypoint2D&lt; PointInT, PointOutT, IntensityT &gt; 继承关系图:</div>
<div class="dyncontent">
 <div class="center">
  <img src="classpcl_1_1_brisk_keypoint2_d.png" usemap="#pcl::BriskKeypoint2D_3C_20PointInT_2C_20PointOutT_2C_20IntensityT_20_3E_map" alt=""/>
  <map id="pcl::BriskKeypoint2D_3C_20PointInT_2C_20PointOutT_2C_20IntensityT_20_3E_map" name="pcl::BriskKeypoint2D_3C_20PointInT_2C_20PointOutT_2C_20IntensityT_20_3E_map">
<area href="classpcl_1_1_keypoint.html" alt="pcl::Keypoint&lt; PointInT, pcl::PointWithScale &gt;" shape="rect" coords="0,56,323,80"/>
<area href="classpcl_1_1_p_c_l_base.html" alt="pcl::PCLBase&lt; PointInT &gt;" shape="rect" coords="0,0,323,24"/>
  </map>
</div></div>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
Public 类型</h2></td></tr>
<tr class="memitem:ad95461ca7347f55269e09ff6a24a3e23"><td class="memItemLeft" align="right" valign="top"><a id="ad95461ca7347f55269e09ff6a24a3e23"></a>
typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1_brisk_keypoint2_d.html">BriskKeypoint2D</a>&lt; PointInT, PointOutT, IntensityT &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
<tr class="separator:ad95461ca7347f55269e09ff6a24a3e23"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1924ed7fac570e8e27989346151458f5"><td class="memItemLeft" align="right" valign="top"><a id="a1924ed7fac570e8e27989346151458f5"></a>
typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1_brisk_keypoint2_d.html">BriskKeypoint2D</a>&lt; PointInT, PointOutT, IntensityT &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b></td></tr>
<tr class="separator:a1924ed7fac570e8e27989346151458f5"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac7dd723558276d123aff6e4e13bcf872"><td class="memItemLeft" align="right" valign="top"><a id="ac7dd723558276d123aff6e4e13bcf872"></a>
typedef <a class="el" href="classpcl_1_1_keypoint.html">Keypoint</a>&lt; PointInT, PointOutT &gt;::<a class="el" href="classpcl_1_1_point_cloud.html">PointCloudIn</a>&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudIn</b></td></tr>
<tr class="separator:ac7dd723558276d123aff6e4e13bcf872"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af26a744c5a64c418e9187016786bc67a"><td class="memItemLeft" align="right" valign="top"><a id="af26a744c5a64c418e9187016786bc67a"></a>
typedef <a class="el" href="classpcl_1_1_keypoint.html">Keypoint</a>&lt; PointInT, PointOutT &gt;::<a class="el" href="classpcl_1_1_point_cloud.html">PointCloudOut</a>&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudOut</b></td></tr>
<tr class="separator:af26a744c5a64c418e9187016786bc67a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9a2a1e9e516788c35c5ee7517bd2fc37"><td class="memItemLeft" align="right" valign="top"><a id="a9a2a1e9e516788c35c5ee7517bd2fc37"></a>
typedef <a class="el" href="classpcl_1_1_keypoint.html">Keypoint</a>&lt; PointInT, PointOutT &gt;::<a class="el" href="classpcl_1_1search_1_1_search.html">KdTree</a>&#160;</td><td class="memItemRight" valign="bottom"><b>KdTree</b></td></tr>
<tr class="separator:a9a2a1e9e516788c35c5ee7517bd2fc37"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a126bf56e81080d3f5e7d60d79ee73478"><td class="memItemLeft" align="right" valign="top"><a id="a126bf56e81080d3f5e7d60d79ee73478"></a>
typedef PointCloudIn::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudInConstPtr</b></td></tr>
<tr class="separator:a126bf56e81080d3f5e7d60d79ee73478"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_types_classpcl_1_1_keypoint"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classpcl_1_1_keypoint')"><img src="closed.png" alt="-"/>&#160;Public 类型 继承自 <a class="el" href="classpcl_1_1_keypoint.html">pcl::Keypoint&lt; PointInT, pcl::PointWithScale &gt;</a></td></tr>
<tr class="memitem:ad0fa140c6038e3708a7ef652e5c74caa inherit pub_types_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="ad0fa140c6038e3708a7ef652e5c74caa"></a>
typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1_keypoint.html">Keypoint</a>&lt; PointInT, <a class="el" href="structpcl_1_1_point_with_scale.html">pcl::PointWithScale</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
<tr class="separator:ad0fa140c6038e3708a7ef652e5c74caa inherit pub_types_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab6d8033d4e3165919da69c0dfeecb8ae inherit pub_types_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="ab6d8033d4e3165919da69c0dfeecb8ae"></a>
typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1_keypoint.html">Keypoint</a>&lt; PointInT, <a class="el" href="structpcl_1_1_point_with_scale.html">pcl::PointWithScale</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b></td></tr>
<tr class="separator:ab6d8033d4e3165919da69c0dfeecb8ae inherit pub_types_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9eef8be22b648faf7529a03808165cc9 inherit pub_types_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="a9eef8be22b648faf7529a03808165cc9"></a>
typedef <a class="el" href="classpcl_1_1_p_c_l_base.html">PCLBase</a>&lt; PointInT &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>BaseClass</b></td></tr>
<tr class="separator:a9eef8be22b648faf7529a03808165cc9 inherit pub_types_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a54c9e8e5960a91c46a9a1fff3eb7ed1f inherit pub_types_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="a54c9e8e5960a91c46a9a1fff3eb7ed1f"></a>
typedef <a class="el" href="classpcl_1_1search_1_1_search.html">pcl::search::Search</a>&lt; PointInT &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>KdTree</b></td></tr>
<tr class="separator:a54c9e8e5960a91c46a9a1fff3eb7ed1f inherit pub_types_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7da3079345edc3d3684157309a1e47dd inherit pub_types_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="a7da3079345edc3d3684157309a1e47dd"></a>
typedef <a class="el" href="classpcl_1_1search_1_1_search.html">pcl::search::Search</a>&lt; PointInT &gt;::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>KdTreePtr</b></td></tr>
<tr class="separator:a7da3079345edc3d3684157309a1e47dd inherit pub_types_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac291ff32e78639931cab1113e69a456b inherit pub_types_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="ac291ff32e78639931cab1113e69a456b"></a>
typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointInT &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudIn</b></td></tr>
<tr class="separator:ac291ff32e78639931cab1113e69a456b inherit pub_types_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2e0ec17665234d8f2c30a143222a8eee inherit pub_types_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="a2e0ec17665234d8f2c30a143222a8eee"></a>
typedef PointCloudIn::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudInPtr</b></td></tr>
<tr class="separator:a2e0ec17665234d8f2c30a143222a8eee inherit pub_types_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a833ca03470dd4383a397e24214ea0709 inherit pub_types_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="a833ca03470dd4383a397e24214ea0709"></a>
typedef PointCloudIn::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudInConstPtr</b></td></tr>
<tr class="separator:a833ca03470dd4383a397e24214ea0709 inherit pub_types_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a010e393d307e423828232fdd48781240 inherit pub_types_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="a010e393d307e423828232fdd48781240"></a>
typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_with_scale.html">pcl::PointWithScale</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudOut</b></td></tr>
<tr class="separator:a010e393d307e423828232fdd48781240 inherit pub_types_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a25a67ec1b8bee8532d9e0947164d44ba inherit pub_types_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="a25a67ec1b8bee8532d9e0947164d44ba"></a>
typedef boost::function&lt; int(int, double, std::vector&lt; int &gt; &amp;, std::vector&lt; float &gt; &amp;)&gt;&#160;</td><td class="memItemRight" valign="bottom"><b>SearchMethod</b></td></tr>
<tr class="separator:a25a67ec1b8bee8532d9e0947164d44ba inherit pub_types_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac58660587c72beaf0068c4f4656484e6 inherit pub_types_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="ac58660587c72beaf0068c4f4656484e6"></a>
typedef boost::function&lt; int(const <a class="el" href="classpcl_1_1_point_cloud.html">PointCloudIn</a> &amp;cloud, int index, double, std::vector&lt; int &gt; &amp;, std::vector&lt; float &gt; &amp;)&gt;&#160;</td><td class="memItemRight" valign="bottom"><b>SearchMethodSurface</b></td></tr>
<tr class="separator:ac58660587c72beaf0068c4f4656484e6 inherit pub_types_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_types_classpcl_1_1_p_c_l_base"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classpcl_1_1_p_c_l_base')"><img src="closed.png" alt="-"/>&#160;Public 类型 继承自 <a class="el" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase&lt; PointInT &gt;</a></td></tr>
<tr class="memitem:ae2f6f6863a73337858b7a7a054eaae4f inherit pub_types_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="ae2f6f6863a73337858b7a7a054eaae4f"></a>
typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointInT &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloud</b></td></tr>
<tr class="separator:ae2f6f6863a73337858b7a7a054eaae4f inherit pub_types_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab84dd662cda89edb882fe5307b2136ea inherit pub_types_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="ab84dd662cda89edb882fe5307b2136ea"></a>
typedef PointCloud::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudPtr</b></td></tr>
<tr class="separator:ab84dd662cda89edb882fe5307b2136ea inherit pub_types_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac8326513fad0680b6993e2f1a79a6af4 inherit pub_types_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="ac8326513fad0680b6993e2f1a79a6af4"></a>
typedef PointCloud::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudConstPtr</b></td></tr>
<tr class="separator:ac8326513fad0680b6993e2f1a79a6af4 inherit pub_types_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae51eae0c7b3e0b7178f4894dff90660a inherit pub_types_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="ae51eae0c7b3e0b7178f4894dff90660a"></a>
typedef boost::shared_ptr&lt; <a class="el" href="structpcl_1_1_point_indices.html">PointIndices</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointIndicesPtr</b></td></tr>
<tr class="separator:ae51eae0c7b3e0b7178f4894dff90660a inherit pub_types_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a51771056fb4ab8c448a11157acbe2ee0 inherit pub_types_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="a51771056fb4ab8c448a11157acbe2ee0"></a>
typedef boost::shared_ptr&lt; <a class="el" href="structpcl_1_1_point_indices.html">PointIndices</a> const &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointIndicesConstPtr</b></td></tr>
<tr class="separator:a51771056fb4ab8c448a11157acbe2ee0 inherit pub_types_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public 成员函数</h2></td></tr>
<tr class="memitem:a68418f802729d2fb580e6cde185e799c"><td class="memItemLeft" align="right" valign="top"><a id="a68418f802729d2fb580e6cde185e799c"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_brisk_keypoint2_d.html#a68418f802729d2fb580e6cde185e799c">BriskKeypoint2D</a> (int octaves=4, int threshold=60)</td></tr>
<tr class="memdesc:a68418f802729d2fb580e6cde185e799c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor <br /></td></tr>
<tr class="separator:a68418f802729d2fb580e6cde185e799c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a068060bfdcd60348f20c24b5ff162c85"><td class="memItemLeft" align="right" valign="top"><a id="a068060bfdcd60348f20c24b5ff162c85"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_brisk_keypoint2_d.html#a068060bfdcd60348f20c24b5ff162c85">~BriskKeypoint2D</a> ()</td></tr>
<tr class="memdesc:a068060bfdcd60348f20c24b5ff162c85"><td class="mdescLeft">&#160;</td><td class="mdescRight">Destructor. <br /></td></tr>
<tr class="separator:a068060bfdcd60348f20c24b5ff162c85"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0ec5e3aa61678bcbe86e0136636d643d"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_brisk_keypoint2_d.html#a0ec5e3aa61678bcbe86e0136636d643d">setThreshold</a> (const int threshold)</td></tr>
<tr class="memdesc:a0ec5e3aa61678bcbe86e0136636d643d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets the threshold for corner detection.  <a href="classpcl_1_1_brisk_keypoint2_d.html#a0ec5e3aa61678bcbe86e0136636d643d">更多...</a><br /></td></tr>
<tr class="separator:a0ec5e3aa61678bcbe86e0136636d643d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aae191e9cb4c9e19c30f76a93a71da0fa"><td class="memItemLeft" align="right" valign="top"><a id="aae191e9cb4c9e19c30f76a93a71da0fa"></a>
size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_brisk_keypoint2_d.html#aae191e9cb4c9e19c30f76a93a71da0fa">getThreshold</a> ()</td></tr>
<tr class="memdesc:aae191e9cb4c9e19c30f76a93a71da0fa"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the threshold for corner detection, as set by the user. <br /></td></tr>
<tr class="separator:aae191e9cb4c9e19c30f76a93a71da0fa"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8a58c65d1a846763e52e4068a301811f"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_brisk_keypoint2_d.html#a8a58c65d1a846763e52e4068a301811f">setOctaves</a> (const int octaves)</td></tr>
<tr class="memdesc:a8a58c65d1a846763e52e4068a301811f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the number of octaves to use  <a href="classpcl_1_1_brisk_keypoint2_d.html#a8a58c65d1a846763e52e4068a301811f">更多...</a><br /></td></tr>
<tr class="separator:a8a58c65d1a846763e52e4068a301811f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:abeaf0bb89b1a94e8f15822584e94ef43"><td class="memItemLeft" align="right" valign="top"><a id="abeaf0bb89b1a94e8f15822584e94ef43"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_brisk_keypoint2_d.html#abeaf0bb89b1a94e8f15822584e94ef43">getOctaves</a> ()</td></tr>
<tr class="memdesc:abeaf0bb89b1a94e8f15822584e94ef43"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the number of octaves used. <br /></td></tr>
<tr class="separator:abeaf0bb89b1a94e8f15822584e94ef43"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afd263e0bb459ce78e7c0fed57dd2899b"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_brisk_keypoint2_d.html#afd263e0bb459ce78e7c0fed57dd2899b">setRemoveInvalid3DKeypoints</a> (bool remove)</td></tr>
<tr class="memdesc:afd263e0bb459ce78e7c0fed57dd2899b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Specify whether we should do a 2nd pass through the list of keypoints found, and remove the ones that do not have a valid 3D (x-y-z) position (i.e., are NaN or Inf).  <a href="classpcl_1_1_brisk_keypoint2_d.html#afd263e0bb459ce78e7c0fed57dd2899b">更多...</a><br /></td></tr>
<tr class="separator:afd263e0bb459ce78e7c0fed57dd2899b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5c53a903009694e3fc7e5694995af95a"><td class="memItemLeft" align="right" valign="top"><a id="a5c53a903009694e3fc7e5694995af95a"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_brisk_keypoint2_d.html#a5c53a903009694e3fc7e5694995af95a">getRemoveInvalid3DKeypoints</a> ()</td></tr>
<tr class="memdesc:a5c53a903009694e3fc7e5694995af95a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Specify whether the keypoints that do not have a valid 3D position are kept (false) or removed (true). <br /></td></tr>
<tr class="separator:a5c53a903009694e3fc7e5694995af95a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:acfa3d4aad370671d480afe840da29954"><td class="memItemLeft" align="right" valign="top"><a id="acfa3d4aad370671d480afe840da29954"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><b>bilinearInterpolation</b> (const PointCloudInConstPtr &amp;cloud, float x, float y, PointOutT &amp;pt)</td></tr>
<tr class="separator:acfa3d4aad370671d480afe840da29954"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_classpcl_1_1_keypoint"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpcl_1_1_keypoint')"><img src="closed.png" alt="-"/>&#160;Public 成员函数 继承自 <a class="el" href="classpcl_1_1_keypoint.html">pcl::Keypoint&lt; PointInT, pcl::PointWithScale &gt;</a></td></tr>
<tr class="memitem:a06d5bf39feac19b1d5dfa0a3e87caea9 inherit pub_methods_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="a06d5bf39feac19b1d5dfa0a3e87caea9"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_keypoint.html#a06d5bf39feac19b1d5dfa0a3e87caea9">Keypoint</a> ()</td></tr>
<tr class="memdesc:a06d5bf39feac19b1d5dfa0a3e87caea9 inherit pub_methods_classpcl_1_1_keypoint"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty constructor. <br /></td></tr>
<tr class="separator:a06d5bf39feac19b1d5dfa0a3e87caea9 inherit pub_methods_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab968a8e4e03374f001f2ad32f71c19f6 inherit pub_methods_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="ab968a8e4e03374f001f2ad32f71c19f6"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><b>harrisCorner</b> (ImageType &amp;output, ImageType &amp;input, const float sigma_d, const float sigma_i, const float alpha, const float thresh)</td></tr>
<tr class="separator:ab968a8e4e03374f001f2ad32f71c19f6 inherit pub_methods_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2093e733ffdbeec61011da572f7c1621 inherit pub_methods_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="a2093e733ffdbeec61011da572f7c1621"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><b>hessianBlob</b> (ImageType &amp;output, ImageType &amp;input, const float sigma, bool SCALE)</td></tr>
<tr class="separator:a2093e733ffdbeec61011da572f7c1621 inherit pub_methods_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7e50c05b60ac259df5c21e7710f93409 inherit pub_methods_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="a7e50c05b60ac259df5c21e7710f93409"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><b>hessianBlob</b> (ImageType &amp;output, ImageType &amp;input, const float start_scale, const float scaling_factor, const int num_scales)</td></tr>
<tr class="separator:a7e50c05b60ac259df5c21e7710f93409 inherit pub_methods_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a99462738157103f91e8bfe7075202f7f inherit pub_methods_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="a99462738157103f91e8bfe7075202f7f"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><b>imageElementMultiply</b> (ImageType &amp;output, ImageType &amp;input1, ImageType &amp;input2)</td></tr>
<tr class="separator:a99462738157103f91e8bfe7075202f7f inherit pub_methods_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:abc3023e139444291b4d155553369b0bd inherit pub_methods_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="abc3023e139444291b4d155553369b0bd"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_keypoint.html#abc3023e139444291b4d155553369b0bd">~Keypoint</a> ()</td></tr>
<tr class="memdesc:abc3023e139444291b4d155553369b0bd inherit pub_methods_classpcl_1_1_keypoint"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty destructor <br /></td></tr>
<tr class="separator:abc3023e139444291b4d155553369b0bd inherit pub_methods_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9dbce2da2ea97dcb4f5635df33a129c9 inherit pub_methods_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_keypoint.html#a9dbce2da2ea97dcb4f5635df33a129c9">setSearchSurface</a> (const PointCloudInConstPtr &amp;cloud)</td></tr>
<tr class="memdesc:a9dbce2da2ea97dcb4f5635df33a129c9 inherit pub_methods_classpcl_1_1_keypoint"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the input dataset that we need to estimate features at every point for.  <a href="classpcl_1_1_keypoint.html#a9dbce2da2ea97dcb4f5635df33a129c9">更多...</a><br /></td></tr>
<tr class="separator:a9dbce2da2ea97dcb4f5635df33a129c9 inherit pub_methods_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa7b3aa0078d09857ed7afbee6b00e07b inherit pub_methods_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="aa7b3aa0078d09857ed7afbee6b00e07b"></a>
PointCloudInConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_keypoint.html#aa7b3aa0078d09857ed7afbee6b00e07b">getSearchSurface</a> ()</td></tr>
<tr class="memdesc:aa7b3aa0078d09857ed7afbee6b00e07b inherit pub_methods_classpcl_1_1_keypoint"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the surface point cloud dataset. <br /></td></tr>
<tr class="separator:aa7b3aa0078d09857ed7afbee6b00e07b inherit pub_methods_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a153d731738fd5966e169e26b61013689 inherit pub_methods_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_keypoint.html#a153d731738fd5966e169e26b61013689">setSearchMethod</a> (const KdTreePtr &amp;tree)</td></tr>
<tr class="memdesc:a153d731738fd5966e169e26b61013689 inherit pub_methods_classpcl_1_1_keypoint"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the search object.  <a href="classpcl_1_1_keypoint.html#a153d731738fd5966e169e26b61013689">更多...</a><br /></td></tr>
<tr class="separator:a153d731738fd5966e169e26b61013689 inherit pub_methods_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9c5fa8a8d95367a21111efe0b197a3c9 inherit pub_methods_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="a9c5fa8a8d95367a21111efe0b197a3c9"></a>
KdTreePtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_keypoint.html#a9c5fa8a8d95367a21111efe0b197a3c9">getSearchMethod</a> ()</td></tr>
<tr class="memdesc:a9c5fa8a8d95367a21111efe0b197a3c9 inherit pub_methods_classpcl_1_1_keypoint"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the search method used. <br /></td></tr>
<tr class="separator:a9c5fa8a8d95367a21111efe0b197a3c9 inherit pub_methods_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:addd331bafa986670ef416554728bd6a4 inherit pub_methods_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="addd331bafa986670ef416554728bd6a4"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_keypoint.html#addd331bafa986670ef416554728bd6a4">getSearchParameter</a> ()</td></tr>
<tr class="memdesc:addd331bafa986670ef416554728bd6a4 inherit pub_methods_classpcl_1_1_keypoint"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the internal search parameter. <br /></td></tr>
<tr class="separator:addd331bafa986670ef416554728bd6a4 inherit pub_methods_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4de1c1a1545be786c12ec36fea4008df inherit pub_methods_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_keypoint.html#a4de1c1a1545be786c12ec36fea4008df">setKSearch</a> (int k)</td></tr>
<tr class="memdesc:a4de1c1a1545be786c12ec36fea4008df inherit pub_methods_classpcl_1_1_keypoint"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the number of k nearest neighbors to use for the feature estimation.  <a href="classpcl_1_1_keypoint.html#a4de1c1a1545be786c12ec36fea4008df">更多...</a><br /></td></tr>
<tr class="separator:a4de1c1a1545be786c12ec36fea4008df inherit pub_methods_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9a337c89ee7ce0816b8a677b5d538592 inherit pub_methods_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="a9a337c89ee7ce0816b8a677b5d538592"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_keypoint.html#a9a337c89ee7ce0816b8a677b5d538592">getKSearch</a> ()</td></tr>
<tr class="memdesc:a9a337c89ee7ce0816b8a677b5d538592 inherit pub_methods_classpcl_1_1_keypoint"><td class="mdescLeft">&#160;</td><td class="mdescRight">get the number of k nearest neighbors used for the feature estimation. <br /></td></tr>
<tr class="separator:a9a337c89ee7ce0816b8a677b5d538592 inherit pub_methods_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:acb901dd8879ee9a34b3a87d1cb6d6a37 inherit pub_methods_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_keypoint.html#acb901dd8879ee9a34b3a87d1cb6d6a37">setRadiusSearch</a> (double radius)</td></tr>
<tr class="memdesc:acb901dd8879ee9a34b3a87d1cb6d6a37 inherit pub_methods_classpcl_1_1_keypoint"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the sphere radius that is to be used for determining the nearest neighbors used for the key point detection  <a href="classpcl_1_1_keypoint.html#acb901dd8879ee9a34b3a87d1cb6d6a37">更多...</a><br /></td></tr>
<tr class="separator:acb901dd8879ee9a34b3a87d1cb6d6a37 inherit pub_methods_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9b6fb2953dc9be88c74d95c8446937bb inherit pub_methods_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="a9b6fb2953dc9be88c74d95c8446937bb"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_keypoint.html#a9b6fb2953dc9be88c74d95c8446937bb">getRadiusSearch</a> ()</td></tr>
<tr class="memdesc:a9b6fb2953dc9be88c74d95c8446937bb inherit pub_methods_classpcl_1_1_keypoint"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the sphere radius used for determining the neighbors. <br /></td></tr>
<tr class="separator:a9b6fb2953dc9be88c74d95c8446937bb inherit pub_methods_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3ead3b82282115d4b7e400daee213c2d inherit pub_methods_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top">pcl::PointIndicesConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_keypoint.html#a3ead3b82282115d4b7e400daee213c2d">getKeypointsIndices</a> ()</td></tr>
<tr class="separator:a3ead3b82282115d4b7e400daee213c2d inherit pub_methods_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a046a7cd11598b06d2076da69a3100e4b inherit pub_methods_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_keypoint.html#a046a7cd11598b06d2076da69a3100e4b">compute</a> (<a class="el" href="classpcl_1_1_point_cloud.html">PointCloudOut</a> &amp;output)</td></tr>
<tr class="memdesc:a046a7cd11598b06d2076da69a3100e4b inherit pub_methods_classpcl_1_1_keypoint"><td class="mdescLeft">&#160;</td><td class="mdescRight">Base method for key point detection for all points given in &lt;setInputCloud (), setIndices ()&gt; using the surface in setSearchSurface () and the spatial locator in setSearchMethod ()  <a href="classpcl_1_1_keypoint.html#a046a7cd11598b06d2076da69a3100e4b">更多...</a><br /></td></tr>
<tr class="separator:a046a7cd11598b06d2076da69a3100e4b inherit pub_methods_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa327f241d246cec23ca531261f60da3f inherit pub_methods_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_keypoint.html#aa327f241d246cec23ca531261f60da3f">searchForNeighbors</a> (int index, double parameter, std::vector&lt; int &gt; &amp;indices, std::vector&lt; float &gt; &amp;distances) const</td></tr>
<tr class="memdesc:aa327f241d246cec23ca531261f60da3f inherit pub_methods_classpcl_1_1_keypoint"><td class="mdescLeft">&#160;</td><td class="mdescRight">Search for k-nearest neighbors using the spatial locator from <em>setSearchmethod</em>, and the given surface from <em>setSearchSurface</em>.  <a href="classpcl_1_1_keypoint.html#aa327f241d246cec23ca531261f60da3f">更多...</a><br /></td></tr>
<tr class="separator:aa327f241d246cec23ca531261f60da3f inherit pub_methods_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_classpcl_1_1_p_c_l_base"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpcl_1_1_p_c_l_base')"><img src="closed.png" alt="-"/>&#160;Public 成员函数 继承自 <a class="el" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase&lt; PointInT &gt;</a></td></tr>
<tr class="memitem:af4fbc5eb005057f8a0fc6d60bde595df inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="af4fbc5eb005057f8a0fc6d60bde595df"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#af4fbc5eb005057f8a0fc6d60bde595df">PCLBase</a> ()</td></tr>
<tr class="memdesc:af4fbc5eb005057f8a0fc6d60bde595df inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty constructor. <br /></td></tr>
<tr class="separator:af4fbc5eb005057f8a0fc6d60bde595df inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7a6dd7a91275d7737cf1b18005b47244 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="a7a6dd7a91275d7737cf1b18005b47244"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a7a6dd7a91275d7737cf1b18005b47244">PCLBase</a> (const <a class="el" href="classpcl_1_1_p_c_l_base.html">PCLBase</a> &amp;base)</td></tr>
<tr class="memdesc:a7a6dd7a91275d7737cf1b18005b47244 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Copy constructor. <br /></td></tr>
<tr class="separator:a7a6dd7a91275d7737cf1b18005b47244 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad5d6846e98e59c37dcc3dc9958d53966 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="ad5d6846e98e59c37dcc3dc9958d53966"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#ad5d6846e98e59c37dcc3dc9958d53966">~PCLBase</a> ()</td></tr>
<tr class="memdesc:ad5d6846e98e59c37dcc3dc9958d53966 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Destructor. <br /></td></tr>
<tr class="separator:ad5d6846e98e59c37dcc3dc9958d53966 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1952d7101f3942bac3b69ed55c1ca7ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">setInputCloud</a> (const PointCloudConstPtr &amp;cloud)</td></tr>
<tr class="memdesc:a1952d7101f3942bac3b69ed55c1ca7ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the input dataset  <a href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">更多...</a><br /></td></tr>
<tr class="separator:a1952d7101f3942bac3b69ed55c1ca7ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8cd745c4f7a792212f4fc3720b9d46ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="a8cd745c4f7a792212f4fc3720b9d46ea"></a>
PointCloudConstPtr const&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a8cd745c4f7a792212f4fc3720b9d46ea">getInputCloud</a> () const</td></tr>
<tr class="memdesc:a8cd745c4f7a792212f4fc3720b9d46ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the input point cloud dataset. <br /></td></tr>
<tr class="separator:a8cd745c4f7a792212f4fc3720b9d46ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab219359de6eb34c9d51e2e976dd1a0d1 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#ab219359de6eb34c9d51e2e976dd1a0d1">setIndices</a> (const IndicesPtr &amp;indices)</td></tr>
<tr class="memdesc:ab219359de6eb34c9d51e2e976dd1a0d1 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the vector of indices that represents the input data.  <a href="classpcl_1_1_p_c_l_base.html#ab219359de6eb34c9d51e2e976dd1a0d1">更多...</a><br /></td></tr>
<tr class="separator:ab219359de6eb34c9d51e2e976dd1a0d1 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a436c68c74b31e4dd00000adfbb11ca7c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a436c68c74b31e4dd00000adfbb11ca7c">setIndices</a> (const IndicesConstPtr &amp;indices)</td></tr>
<tr class="memdesc:a436c68c74b31e4dd00000adfbb11ca7c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the vector of indices that represents the input data.  <a href="classpcl_1_1_p_c_l_base.html#a436c68c74b31e4dd00000adfbb11ca7c">更多...</a><br /></td></tr>
<tr class="separator:a436c68c74b31e4dd00000adfbb11ca7c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af9cc90d8364ce968566f75800d3773ca inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#af9cc90d8364ce968566f75800d3773ca">setIndices</a> (const PointIndicesConstPtr &amp;indices)</td></tr>
<tr class="memdesc:af9cc90d8364ce968566f75800d3773ca inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the vector of indices that represents the input data.  <a href="classpcl_1_1_p_c_l_base.html#af9cc90d8364ce968566f75800d3773ca">更多...</a><br /></td></tr>
<tr class="separator:af9cc90d8364ce968566f75800d3773ca inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a930c7a6375fdf65ff8cfdb4eb4a6d996 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a930c7a6375fdf65ff8cfdb4eb4a6d996">setIndices</a> (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols)</td></tr>
<tr class="memdesc:a930c7a6375fdf65ff8cfdb4eb4a6d996 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the indices for the points laying within an interest region of the point cloud.  <a href="classpcl_1_1_p_c_l_base.html#a930c7a6375fdf65ff8cfdb4eb4a6d996">更多...</a><br /></td></tr>
<tr class="separator:a930c7a6375fdf65ff8cfdb4eb4a6d996 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a058753dd4de73d3d0062fe2e452fba3c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="a058753dd4de73d3d0062fe2e452fba3c"></a>
IndicesPtr const&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a058753dd4de73d3d0062fe2e452fba3c">getIndices</a> ()</td></tr>
<tr class="memdesc:a058753dd4de73d3d0062fe2e452fba3c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the vector of indices used. <br /></td></tr>
<tr class="separator:a058753dd4de73d3d0062fe2e452fba3c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:acae187b37230758959572ceb1e6e2045 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="acae187b37230758959572ceb1e6e2045"></a>
IndicesConstPtr const&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#acae187b37230758959572ceb1e6e2045">getIndices</a> () const</td></tr>
<tr class="memdesc:acae187b37230758959572ceb1e6e2045 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the vector of indices used. <br /></td></tr>
<tr class="separator:acae187b37230758959572ceb1e6e2045 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af7335fedb0af0930b9d1dedcb54ba201 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">const PointInT &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#af7335fedb0af0930b9d1dedcb54ba201">operator[]</a> (size_t pos) const</td></tr>
<tr class="memdesc:af7335fedb0af0930b9d1dedcb54ba201 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Override PointCloud operator[] to shorten code  <a href="classpcl_1_1_p_c_l_base.html#af7335fedb0af0930b9d1dedcb54ba201">更多...</a><br /></td></tr>
<tr class="separator:af7335fedb0af0930b9d1dedcb54ba201 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-methods"></a>
Protected 成员函数</h2></td></tr>
<tr class="memitem:ad1a8f006a715d4b5551d4c9ebcc3f436"><td class="memItemLeft" align="right" valign="top"><a id="ad1a8f006a715d4b5551d4c9ebcc3f436"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_brisk_keypoint2_d.html#ad1a8f006a715d4b5551d4c9ebcc3f436">initCompute</a> ()</td></tr>
<tr class="memdesc:ad1a8f006a715d4b5551d4c9ebcc3f436"><td class="mdescLeft">&#160;</td><td class="mdescRight">Initializes everything and checks whether input data is fine. <br /></td></tr>
<tr class="separator:ad1a8f006a715d4b5551d4c9ebcc3f436"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a10ccfd8f11572461c6db0732950b6f7a"><td class="memItemLeft" align="right" valign="top"><a id="a10ccfd8f11572461c6db0732950b6f7a"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_brisk_keypoint2_d.html#a10ccfd8f11572461c6db0732950b6f7a">detectKeypoints</a> (<a class="el" href="classpcl_1_1_point_cloud.html">PointCloudOut</a> &amp;output)</td></tr>
<tr class="memdesc:a10ccfd8f11572461c6db0732950b6f7a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Detects the keypoints. <br /></td></tr>
<tr class="separator:a10ccfd8f11572461c6db0732950b6f7a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_methods_classpcl_1_1_keypoint"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classpcl_1_1_keypoint')"><img src="closed.png" alt="-"/>&#160;Protected 成员函数 继承自 <a class="el" href="classpcl_1_1_keypoint.html">pcl::Keypoint&lt; PointInT, pcl::PointWithScale &gt;</a></td></tr>
<tr class="memitem:af2dd9244731bfd903ce4aa73efb996eb inherit pro_methods_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="af2dd9244731bfd903ce4aa73efb996eb"></a>
const std::string &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_keypoint.html#af2dd9244731bfd903ce4aa73efb996eb">getClassName</a> () const</td></tr>
<tr class="memdesc:af2dd9244731bfd903ce4aa73efb996eb inherit pro_methods_classpcl_1_1_keypoint"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a string representation of the name of this class. <br /></td></tr>
<tr class="separator:af2dd9244731bfd903ce4aa73efb996eb inherit pro_methods_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:abbe80461ac9e3bb7e355b4608d0b4674 inherit pro_methods_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="abbe80461ac9e3bb7e355b4608d0b4674"></a>
virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_keypoint.html#abbe80461ac9e3bb7e355b4608d0b4674">detectKeypoints</a> (<a class="el" href="classpcl_1_1_point_cloud.html">PointCloudOut</a> &amp;output)=0</td></tr>
<tr class="memdesc:abbe80461ac9e3bb7e355b4608d0b4674 inherit pro_methods_classpcl_1_1_keypoint"><td class="mdescLeft">&#160;</td><td class="mdescRight">Abstract key point detection method. <br /></td></tr>
<tr class="separator:abbe80461ac9e3bb7e355b4608d0b4674 inherit pro_methods_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_methods_classpcl_1_1_p_c_l_base"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classpcl_1_1_p_c_l_base')"><img src="closed.png" alt="-"/>&#160;Protected 成员函数 继承自 <a class="el" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase&lt; PointInT &gt;</a></td></tr>
<tr class="memitem:acceb20854934f4cf77e266eb5a44d4f0 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#acceb20854934f4cf77e266eb5a44d4f0">initCompute</a> ()</td></tr>
<tr class="memdesc:acceb20854934f4cf77e266eb5a44d4f0 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">This method should get called before starting the actual computation.  <a href="classpcl_1_1_p_c_l_base.html#acceb20854934f4cf77e266eb5a44d4f0">更多...</a><br /></td></tr>
<tr class="separator:acceb20854934f4cf77e266eb5a44d4f0 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afc426c4eebb94b7734d4fa556bff1420 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="afc426c4eebb94b7734d4fa556bff1420"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#afc426c4eebb94b7734d4fa556bff1420">deinitCompute</a> ()</td></tr>
<tr class="memdesc:afc426c4eebb94b7734d4fa556bff1420 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">This method should get called after finishing the actual computation. <br /></td></tr>
<tr class="separator:afc426c4eebb94b7734d4fa556bff1420 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pri-attribs"></a>
Private 属性</h2></td></tr>
<tr class="memitem:ae75fe7b0ad193f4515f73ae4fde736a9"><td class="memItemLeft" align="right" valign="top"><a id="ae75fe7b0ad193f4515f73ae4fde736a9"></a>
IntensityT&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_brisk_keypoint2_d.html#ae75fe7b0ad193f4515f73ae4fde736a9">intensity_</a></td></tr>
<tr class="memdesc:ae75fe7b0ad193f4515f73ae4fde736a9"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="structpcl_1_1_intensity.html" title="A point structure representing the grayscale intensity in single-channel images. Intensity is represe...">Intensity</a> field accessor. <br /></td></tr>
<tr class="separator:ae75fe7b0ad193f4515f73ae4fde736a9"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aee505d29a47c20b50b6999408d408725"><td class="memItemLeft" align="right" valign="top"><a id="aee505d29a47c20b50b6999408d408725"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_brisk_keypoint2_d.html#aee505d29a47c20b50b6999408d408725">threshold_</a></td></tr>
<tr class="memdesc:aee505d29a47c20b50b6999408d408725"><td class="mdescLeft">&#160;</td><td class="mdescRight">Threshold for corner detection. <br /></td></tr>
<tr class="separator:aee505d29a47c20b50b6999408d408725"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afb5f907aba9e29df0e3572c02232859a"><td class="memItemLeft" align="right" valign="top"><a id="afb5f907aba9e29df0e3572c02232859a"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><b>octaves_</b></td></tr>
<tr class="separator:afb5f907aba9e29df0e3572c02232859a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7720667cebef6ae7488b29aa9c7793bf"><td class="memItemLeft" align="right" valign="top"><a id="a7720667cebef6ae7488b29aa9c7793bf"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_brisk_keypoint2_d.html#a7720667cebef6ae7488b29aa9c7793bf">remove_invalid_3D_keypoints_</a></td></tr>
<tr class="memdesc:a7720667cebef6ae7488b29aa9c7793bf"><td class="mdescLeft">&#160;</td><td class="mdescRight">Specify whether the keypoints that do not have a valid 3D position are kept (false) or removed (true). <br /></td></tr>
<tr class="separator:a7720667cebef6ae7488b29aa9c7793bf"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
额外继承的成员函数</h2></td></tr>
<tr class="inherit_header pro_attribs_classpcl_1_1_keypoint"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classpcl_1_1_keypoint')"><img src="closed.png" alt="-"/>&#160;Protected 属性 继承自 <a class="el" href="classpcl_1_1_keypoint.html">pcl::Keypoint&lt; PointInT, pcl::PointWithScale &gt;</a></td></tr>
<tr class="memitem:aef5710b81d66e6d429a9dfeb41d606ff inherit pro_attribs_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="aef5710b81d66e6d429a9dfeb41d606ff"></a>
std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_keypoint.html#aef5710b81d66e6d429a9dfeb41d606ff">name_</a></td></tr>
<tr class="memdesc:aef5710b81d66e6d429a9dfeb41d606ff inherit pro_attribs_classpcl_1_1_keypoint"><td class="mdescLeft">&#160;</td><td class="mdescRight">The key point detection method's name. <br /></td></tr>
<tr class="separator:aef5710b81d66e6d429a9dfeb41d606ff inherit pro_attribs_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa2ee2830db93620925b82bf6b8ffea63 inherit pro_attribs_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="aa2ee2830db93620925b82bf6b8ffea63"></a>
SearchMethod&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_keypoint.html#aa2ee2830db93620925b82bf6b8ffea63">search_method_</a></td></tr>
<tr class="memdesc:aa2ee2830db93620925b82bf6b8ffea63 inherit pro_attribs_classpcl_1_1_keypoint"><td class="mdescLeft">&#160;</td><td class="mdescRight">The search method template for indices. <br /></td></tr>
<tr class="separator:aa2ee2830db93620925b82bf6b8ffea63 inherit pro_attribs_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a642e18edc66cffd15266bf9e7bf20bec inherit pro_attribs_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="a642e18edc66cffd15266bf9e7bf20bec"></a>
SearchMethodSurface&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_keypoint.html#a642e18edc66cffd15266bf9e7bf20bec">search_method_surface_</a></td></tr>
<tr class="memdesc:a642e18edc66cffd15266bf9e7bf20bec inherit pro_attribs_classpcl_1_1_keypoint"><td class="mdescLeft">&#160;</td><td class="mdescRight">The search method template for points. <br /></td></tr>
<tr class="separator:a642e18edc66cffd15266bf9e7bf20bec inherit pro_attribs_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1998c46514f3f8d8d7665f6b505ca389 inherit pro_attribs_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="a1998c46514f3f8d8d7665f6b505ca389"></a>
PointCloudInConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_keypoint.html#a1998c46514f3f8d8d7665f6b505ca389">surface_</a></td></tr>
<tr class="memdesc:a1998c46514f3f8d8d7665f6b505ca389 inherit pro_attribs_classpcl_1_1_keypoint"><td class="mdescLeft">&#160;</td><td class="mdescRight">An input point cloud describing the surface that is to be used for nearest neighbors estimation. <br /></td></tr>
<tr class="separator:a1998c46514f3f8d8d7665f6b505ca389 inherit pro_attribs_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9bca452f3813c88d994dba18d4a7a1c8 inherit pro_attribs_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="a9bca452f3813c88d994dba18d4a7a1c8"></a>
KdTreePtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_keypoint.html#a9bca452f3813c88d994dba18d4a7a1c8">tree_</a></td></tr>
<tr class="memdesc:a9bca452f3813c88d994dba18d4a7a1c8 inherit pro_attribs_classpcl_1_1_keypoint"><td class="mdescLeft">&#160;</td><td class="mdescRight">A pointer to the spatial search object. <br /></td></tr>
<tr class="separator:a9bca452f3813c88d994dba18d4a7a1c8 inherit pro_attribs_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a578368dcf8cacc6770aa5f7e7a306def inherit pro_attribs_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="a578368dcf8cacc6770aa5f7e7a306def"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_keypoint.html#a578368dcf8cacc6770aa5f7e7a306def">search_parameter_</a></td></tr>
<tr class="memdesc:a578368dcf8cacc6770aa5f7e7a306def inherit pro_attribs_classpcl_1_1_keypoint"><td class="mdescLeft">&#160;</td><td class="mdescRight">The actual search parameter (casted from either <em>search_radius_</em> or <em>k_</em>). <br /></td></tr>
<tr class="separator:a578368dcf8cacc6770aa5f7e7a306def inherit pro_attribs_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3bf7980bf7404eb9b5571afbbc2001f5 inherit pro_attribs_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="a3bf7980bf7404eb9b5571afbbc2001f5"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_keypoint.html#a3bf7980bf7404eb9b5571afbbc2001f5">search_radius_</a></td></tr>
<tr class="memdesc:a3bf7980bf7404eb9b5571afbbc2001f5 inherit pro_attribs_classpcl_1_1_keypoint"><td class="mdescLeft">&#160;</td><td class="mdescRight">The nearest neighbors search radius for each point. <br /></td></tr>
<tr class="separator:a3bf7980bf7404eb9b5571afbbc2001f5 inherit pro_attribs_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a93359dca5b099e843c3cf0d0db1c59e1 inherit pro_attribs_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="a93359dca5b099e843c3cf0d0db1c59e1"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_keypoint.html#a93359dca5b099e843c3cf0d0db1c59e1">k_</a></td></tr>
<tr class="memdesc:a93359dca5b099e843c3cf0d0db1c59e1 inherit pro_attribs_classpcl_1_1_keypoint"><td class="mdescLeft">&#160;</td><td class="mdescRight">The number of K nearest neighbors to use for each point. <br /></td></tr>
<tr class="separator:a93359dca5b099e843c3cf0d0db1c59e1 inherit pro_attribs_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:abe8df9e1d66f449bc478cc06f062f209 inherit pro_attribs_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="abe8df9e1d66f449bc478cc06f062f209"></a>
pcl::PointIndicesPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_keypoint.html#abe8df9e1d66f449bc478cc06f062f209">keypoints_indices_</a></td></tr>
<tr class="memdesc:abe8df9e1d66f449bc478cc06f062f209 inherit pro_attribs_classpcl_1_1_keypoint"><td class="mdescLeft">&#160;</td><td class="mdescRight">Indices of the keypoints in the input cloud. <br /></td></tr>
<tr class="separator:abe8df9e1d66f449bc478cc06f062f209 inherit pro_attribs_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_attribs_classpcl_1_1_p_c_l_base"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classpcl_1_1_p_c_l_base')"><img src="closed.png" alt="-"/>&#160;Protected 属性 继承自 <a class="el" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase&lt; PointInT &gt;</a></td></tr>
<tr class="memitem:a09c70d8e06e3fb4f07903fe6f8d67869 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="a09c70d8e06e3fb4f07903fe6f8d67869"></a>
PointCloudConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a></td></tr>
<tr class="memdesc:a09c70d8e06e3fb4f07903fe6f8d67869 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">The input point cloud dataset. <br /></td></tr>
<tr class="separator:a09c70d8e06e3fb4f07903fe6f8d67869 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aaee847c8a517ebf365bad2cb182a6626 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="aaee847c8a517ebf365bad2cb182a6626"></a>
IndicesPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#aaee847c8a517ebf365bad2cb182a6626">indices_</a></td></tr>
<tr class="memdesc:aaee847c8a517ebf365bad2cb182a6626 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">A pointer to the vector of point indices to use. <br /></td></tr>
<tr class="separator:aaee847c8a517ebf365bad2cb182a6626 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ada1eadb824d34ca9206a86343d9760bb inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="ada1eadb824d34ca9206a86343d9760bb"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#ada1eadb824d34ca9206a86343d9760bb">use_indices_</a></td></tr>
<tr class="memdesc:ada1eadb824d34ca9206a86343d9760bb inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set to true if point indices are used. <br /></td></tr>
<tr class="separator:ada1eadb824d34ca9206a86343d9760bb inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:adadb0299f144528020ed558af6879662 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="adadb0299f144528020ed558af6879662"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#adadb0299f144528020ed558af6879662">fake_indices_</a></td></tr>
<tr class="memdesc:adadb0299f144528020ed558af6879662 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. <br /></td></tr>
<tr class="separator:adadb0299f144528020ed558af6879662 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><h3>template&lt;typename PointInT, typename PointOutT = pcl::PointWithScale, typename IntensityT = pcl::common::IntensityFieldAccessor&lt;PointInT&gt;&gt;<br />
class pcl::BriskKeypoint2D&lt; PointInT, PointOutT, IntensityT &gt;</h3>

<p>Detects BRISK interest points based on the original code and paper reference by </p>
<dl class="section user"><dt></dt><dd>Stefan Leutenegger,Margarita Chli and Roland Siegwart, BRISK: Binary Robust Invariant Scalable Keypoints, in Proceedings of the IEEE International Conference on Computer Vision (ICCV2011).</dd></dl>
<p>Code example:</p>
<div class="fragment"><div class="line"><a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;pcl::PointXYZRGBA&gt;</a> cloud;</div>
<div class="line"><a class="code" href="classpcl_1_1_brisk_keypoint2_d.html">pcl::BriskKeypoint2D&lt;pcl::PointXYZRGBA&gt;</a> brisk;</div>
<div class="line">brisk.<a class="code" href="classpcl_1_1_brisk_keypoint2_d.html#a0ec5e3aa61678bcbe86e0136636d643d">setThreshold</a> (60);</div>
<div class="line">brisk.<a class="code" href="classpcl_1_1_brisk_keypoint2_d.html#a8a58c65d1a846763e52e4068a301811f">setOctaves</a> (4);</div>
<div class="line">brisk.<a class="code" href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">setInputCloud</a> (cloud);</div>
<div class="line"> </div>
<div class="line"><a class="code" href="classpcl_1_1_point_cloud.html">PointCloud&lt;pcl::PointWithScale&gt;</a> keypoints;</div>
<div class="line">brisk.<a class="code" href="classpcl_1_1_keypoint.html#a046a7cd11598b06d2076da69a3100e4b">compute</a> (keypoints);</div>
<div class="ttc" id="aclasspcl_1_1_brisk_keypoint2_d_html"><div class="ttname"><a href="classpcl_1_1_brisk_keypoint2_d.html">pcl::BriskKeypoint2D</a></div><div class="ttdoc">Detects BRISK interest points based on the original code and paper reference by</div><div class="ttdef"><b>Definition:</b> brisk_2d.h:73</div></div>
<div class="ttc" id="aclasspcl_1_1_brisk_keypoint2_d_html_a0ec5e3aa61678bcbe86e0136636d643d"><div class="ttname"><a href="classpcl_1_1_brisk_keypoint2_d.html#a0ec5e3aa61678bcbe86e0136636d643d">pcl::BriskKeypoint2D::setThreshold</a></div><div class="ttdeci">void setThreshold(const int threshold)</div><div class="ttdoc">Sets the threshold for corner detection.</div><div class="ttdef"><b>Definition:</b> brisk_2d.h:107</div></div>
<div class="ttc" id="aclasspcl_1_1_brisk_keypoint2_d_html_a8a58c65d1a846763e52e4068a301811f"><div class="ttname"><a href="classpcl_1_1_brisk_keypoint2_d.html#a8a58c65d1a846763e52e4068a301811f">pcl::BriskKeypoint2D::setOctaves</a></div><div class="ttdeci">void setOctaves(const int octaves)</div><div class="ttdoc">Set the number of octaves to use</div><div class="ttdef"><b>Definition:</b> brisk_2d.h:123</div></div>
<div class="ttc" id="aclasspcl_1_1_keypoint_html_a046a7cd11598b06d2076da69a3100e4b"><div class="ttname"><a href="classpcl_1_1_keypoint.html#a046a7cd11598b06d2076da69a3100e4b">pcl::Keypoint::compute</a></div><div class="ttdeci">void compute(PointCloudOut &amp;output)</div><div class="ttdoc">Base method for key point detection for all points given in &lt;setInputCloud (), setIndices ()&gt; using t...</div><div class="ttdef"><b>Definition:</b> keypoint.hpp:124</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html_a1952d7101f3942bac3b69ed55c1ca7ea"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">pcl::PCLBase::setInputCloud</a></div><div class="ttdeci">virtual void setInputCloud(const PointCloudConstPtr &amp;cloud)</div><div class="ttdoc">Provide a pointer to the input dataset</div><div class="ttdef"><b>Definition:</b> pcl_base.hpp:66</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; pcl::PointXYZRGBA &gt;</a></div></div>
</div><!-- fragment --><dl class="section author"><dt>作者</dt><dd>Radu B. Rusu, Stefan Holzer </dd></dl>
</div><h2 class="groupheader">成员函数说明</h2>
<a id="a8a58c65d1a846763e52e4068a301811f"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a8a58c65d1a846763e52e4068a301811f">&#9670;&nbsp;</a></span>setOctaves()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointInT , typename PointOutT  = pcl::PointWithScale, typename IntensityT  = pcl::common::IntensityFieldAccessor&lt;PointInT&gt;&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1_brisk_keypoint2_d.html">pcl::BriskKeypoint2D</a>&lt; PointInT, PointOutT, IntensityT &gt;::setOctaves </td>
          <td>(</td>
          <td class="paramtype">const int&#160;</td>
          <td class="paramname"><em>octaves</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Set the number of octaves to use </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">octaves</td><td>the number of octaves to use </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;      {</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;        octaves_ = octaves;</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;      }</div>
</div><!-- fragment -->
</div>
</div>
<a id="afd263e0bb459ce78e7c0fed57dd2899b"></a>
<h2 class="memtitle"><span class="permalink"><a href="#afd263e0bb459ce78e7c0fed57dd2899b">&#9670;&nbsp;</a></span>setRemoveInvalid3DKeypoints()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointInT , typename PointOutT  = pcl::PointWithScale, typename IntensityT  = pcl::common::IntensityFieldAccessor&lt;PointInT&gt;&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1_brisk_keypoint2_d.html">pcl::BriskKeypoint2D</a>&lt; PointInT, PointOutT, IntensityT &gt;::setRemoveInvalid3DKeypoints </td>
          <td>(</td>
          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>remove</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Specify whether we should do a 2nd pass through the list of keypoints found, and remove the ones that do not have a valid 3D (x-y-z) position (i.e., are NaN or Inf). </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">remove</td><td>set to true whether we want the invalid 3D keypoints removed </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;      {</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;        <a class="code" href="classpcl_1_1_brisk_keypoint2_d.html#a7720667cebef6ae7488b29aa9c7793bf">remove_invalid_3D_keypoints_</a> = remove;</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;      }</div>
<div class="ttc" id="aclasspcl_1_1_brisk_keypoint2_d_html_a7720667cebef6ae7488b29aa9c7793bf"><div class="ttname"><a href="classpcl_1_1_brisk_keypoint2_d.html#a7720667cebef6ae7488b29aa9c7793bf">pcl::BriskKeypoint2D::remove_invalid_3D_keypoints_</a></div><div class="ttdeci">bool remove_invalid_3D_keypoints_</div><div class="ttdoc">Specify whether the keypoints that do not have a valid 3D position are kept (false) or removed (true)...</div><div class="ttdef"><b>Definition:</b> brisk_2d.h:236</div></div>
</div><!-- fragment -->
</div>
</div>
<a id="a0ec5e3aa61678bcbe86e0136636d643d"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a0ec5e3aa61678bcbe86e0136636d643d">&#9670;&nbsp;</a></span>setThreshold()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointInT , typename PointOutT  = pcl::PointWithScale, typename IntensityT  = pcl::common::IntensityFieldAccessor&lt;PointInT&gt;&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1_brisk_keypoint2_d.html">pcl::BriskKeypoint2D</a>&lt; PointInT, PointOutT, IntensityT &gt;::setThreshold </td>
          <td>(</td>
          <td class="paramtype">const int&#160;</td>
          <td class="paramname"><em>threshold</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Sets the threshold for corner detection. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">threshold</td><td>the threshold used for corner detection. </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;      {</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;        <a class="code" href="classpcl_1_1_brisk_keypoint2_d.html#aee505d29a47c20b50b6999408d408725">threshold_</a> = threshold;</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;      }</div>
<div class="ttc" id="aclasspcl_1_1_brisk_keypoint2_d_html_aee505d29a47c20b50b6999408d408725"><div class="ttname"><a href="classpcl_1_1_brisk_keypoint2_d.html#aee505d29a47c20b50b6999408d408725">pcl::BriskKeypoint2D::threshold_</a></div><div class="ttdeci">int threshold_</div><div class="ttdoc">Threshold for corner detection.</div><div class="ttdef"><b>Definition:</b> brisk_2d.h:229</div></div>
</div><!-- fragment -->
</div>
</div>
<hr/>该类的文档由以下文件生成:<ul>
<li>keypoints/include/pcl/keypoints/<a class="el" href="keypoints_2include_2pcl_2keypoints_2brisk__2d_8h_source.html">brisk_2d.h</a></li>
<li>keypoints/include/pcl/keypoints/impl/<a class="el" href="keypoints_2include_2pcl_2keypoints_2impl_2brisk__2d_8hpp_source.html">brisk_2d.hpp</a></li>
</ul>
</div><!-- contents -->
</div><!-- doc-content -->
<!-- start footer part -->
<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
  <ul>
    <li class="navelem"><b>pcl</b></li><li class="navelem"><a class="el" href="classpcl_1_1_brisk_keypoint2_d.html">BriskKeypoint2D</a></li>
    <li class="footer">制作者 <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1 </li>
  </ul>
</div>
</body>
</html>
